SoroushVahidi/scidocs huggingface dataset:
Aerial-guided navigation of a ground robot among movable obstacles
(2014)

We demonstrate the fully autonomous collaboration of an aerial and a ground robot in a mock-up disaster scenario. Within this collaboration, we make use of the individual capabilities and strengths of both robots. The aerial robot first maps an area of interest, then it computes the fastest mission for the ground robot to reach a spotted victim and deliver a first-aid kit. Such a mission includes driving and removing obstacles in the way while being constantly monitored and commanded by the aerial robot. Our mission-planning algorithm distinguishes between movable and fixed obstacles and considers both the time for driving and removing obstacles. The entire mission is executed without any human interaction once the aerial robot is launched and requires a minimal amount of communication between the robots. We describe both the hardware and software of our system and detail our mission-planning algorithm. We present exhaustive results of both simulation and real experiments. Our system was successfully demonstrated more than 20 times at a trade fair.
Beat them or ban them: the characteristics and social functions of anger and contempt.
(2007)

This article reports 3 studies in which the authors examined (a) the distinctive characteristics of anger and contempt responses and (b) the interpersonal causes and effects of both emotions. In the 1st study, the authors examined the distinction between the 2 emotions; in the 2nd study, the authors tested whether contempt could be predicted from previous anger incidents with the same person; and in the 3rd study, the authors examined the effects of type of relationship on anger and contempt reactions. The results of the 3 studies show that anger and contempt often occur together but that there are clear distinctions between the 2 emotions: Anger is characterized more by short-term attack responses but long-term reconciliation, whereas contempt is characterized by rejection and social exclusion of the other person, both in the short-term and in the long-term. The authors also found that contempt may develop out of previously experienced anger and that a lack of intimacy with and perceived control over the behavior of the other person, as well as negative dispositional attributions about the other person, predicted the emergence of contempt.
FPMR: MapReduce Framework on FPGA A Case Study of RankBoost Acceleration
(2010)

Machine learning and data mining are gaining increasing attentions of the computing society. FPGA provides a highly parallel, low power, and flexible hardware platform for this domain, while the difficulty of programming FPGA greatly limits its prevalence. MapReduce is a parallel programming framework that could easily utilize inherent parallelism in algorithms. In this paper, we describe FPMR, a MapReduce framework on FPGA, which provides programming abstraction, hardware architecture, and basic building blocks to developers. An on-chip processor scheduler is implemented to maximize the utilization of computation resources and achieve better load balancing. An efficient data access scheme is carefully designed to maximize data reuse and throughput. Meanwhile, the FPMR framework hides the task control, synchronization, and communication away from designers so that more attention can be paid to the application itself. A case study of RankBoost acceleration based on FPMR demonstrates that FPMR efficiently helps with the development productivity; and the speedup is 31.8x versus CPU-based implementation. This performance is comparable to a fully manually designed version, which achieves 33.5x speedup. Two other applications: SVM, PageRank are also discussed to show the generalization of the framework.
Area-efficient high-speed hybrid 1-bit full adder circuit using modified XNOR gate
(2017)

A hybrid 1-bit full adder design is presented here using modified 3T-XNOR gate to improve the area and speed performance. The design is implemented for 1-bit full adder and then is scaled to 32-bit adder. Combination of CMOS and transmission gate logic is used to enhance the performance in terms of area, delay and power. The performance of the proposed design is evaluated through the simulation analysis in 90-nm technology with 1.2v supply voltage. The effect of scaling on the overall performance is also analyzed through the performance evaluation of 1-bit and 32-bit adder. The performance of proposed design is also compared with conventional design to verify the effectiveness in terms of area, power, delay.
Evaluating Knowledge Representation and Reasoning Capabilites of Ontology Specification Languages
(2000)

The interchange of ontologies across the World Wide Web (WWW) and the cooperation among heterogeneous agents placed on it is the main reason for the development of a new set of ontology specification languages, based on new web standards such as XML or RDF. These languages (SHOE, XOL, RDF, OIL, etc) aim to represent the knowledge contained in an ontology in a simple and human-readable way, as well as allow for the interchange of ontologies across the web. In this paper, we establish a common framework to compare the expressiveness of “ traditional” ontology languages (Ontolingua, OKBC, OCML, FLogic, LOOM) and “web-based” ontology languages. As a result of this study, we conclude that different needs in KR and reasoning may exist in the building of an ontology-based application, and these needs must be evaluated in order to choose the most suitable ontology language(s).
The SWAL-QOL Outcomes Tool for Oropharyngeal Dysphagiain Adults: II. Item Reduction and Preliminary Scaling
(2000)

The SWAL-QOL outcomes tool was constructed for use in clinical research for patients with oropharyngeal dysphagia. The SWAL-QOL was constructed a priori to enable preliminary psychometric analyses of items and scales before its final validation. This article describes data analysis from a pretest of the SWAL-QOL. We evaluated the different domains of the SWAL-QOL for respondent burden, data quality, item variability, item convergent validity, internal consistency reliability as measured by Cronbach's alpha, and range and skewness of scale scores upon aggregation and floor and ceiling effects. The item reduction techniques outlined reduced the SWAL-QOL from 185 to 93 items. The pretest of the SWAL-QOL afforded us the opportunity to select items for the ongoing validation study which optimally met our a priori psychometric criteria of high data quality, normal item distributions, and robust evidence of item convergent validity.
A Descriptive Content Analysis of Trust-Building Measures in B2B Electronic Marketplaces
(2006)

Because business-to-business (B2B) electronic marketplaces (e-marketplaces) facilitate transactions between buyers and sellers, they strive to foster a trustworthy trading environment with a variety of trust-building measures. However, little research has been undertaken to explore trust-building measures used in B2B e-marketplaces, or to determine to what extent these measures are applied in B2B e-marketplaces and how they are applied. Based on reviews of the scholarly, trade, and professional literature on trust in electronic commerce, we identified 11 trustbuilding measures used to create trust in B2B e-marketplaces. Zucker’s trust production theory [1986] was applied to understand how these trust-building measures will enhance participants’ trust in buyers and sellers in B2B e-marketplaces or in B2B e-marketplace providers. A descriptive content analysis of 100 B2B e-marketplaces was conducted to survey the current usage of the 11 trust-building measures. Many of the trust-building measures were found to be widely used in the B2B e-marketplaces. However, although they were proven to be effective in building trust-related beliefs in online business environments, several institutional-based trustbuilding measures, such as escrow services, insurance and third-party assurance seals, are not widely used in B2B e-marketplaces.
A Low-Profile Broadband 32-Slot Continuous Transverse Stub Array for Backhaul Applications in $E$ -Band
(2017)

A high-gain, broadband, and low-profile continuous transverse stub antenna array is presented in E-band. This array comprises 32 long slots excited in parallel by a uniform corporate parallel-plate-waveguide beamforming network combined to a pillbox coupler. The radiating slots and the corporate feed network are built in aluminum whereas the pillbox coupler and its focal source are fabricated in printed circuit board technology. Specific transitions have been designed to combine both fabrication technologies. The design, fabrication, and measurement results are detailed, and a simple design methodology is proposed. The antenna is well matched ( $S_{11} < -13.6$  dB) between 71 and 86 GHz, and an excellent agreement is found between simulations and measurements, thus validating the proposed design. The antenna gain is higher than 29.3 dBi over the entire bandwidth, with a peak gain of 30.8 dBi at 82.25 GHz, and a beam having roughly the same half-power beamwidth in E- and H-planes. This antenna architecture is considered as an innovative solution for long-distance millimeter-waves telecommunication applications such as fifth-generation backhauling in E-band.
News Article Teaser Tweets and How to Generate Them
(2018)

We define the task of teaser generation and provide an evaluation benchmark and baseline systems for it. A teaser is a short reading suggestion for an article that is illustrative and includes curiosity-arousing elements to entice potential readers to read the news item. Teasers are one of the main vehicles for transmitting news to social media users. We compile a novel dataset of teasers by systematically accumulating tweets and selecting ones that conform to the teaser definition. We compare a number of neural abstractive architectures on the task of teaser generation and the overall best performing system is See et al. (2017)’s seq2seq with pointer network.
Markov Chain Monte Carlo Maximum Likelihood
(2005)

Markov chain Monte Carlo (e. g., the Metropolis algorithm and Gibbs sampler) is a general tool for simulation of complex stochastic processes useful in many types of statistical inference. The basics of Markov chain Monte Carlo are reviewed, including choice of algorithms and variance estimation, and some new methods are introduced. The use of Markov chain Monte Carlo for maximum likelihood estimation is explained, and its performance is compared with maximum pseudo likelihood estimation.
Modeling and power conditioning for thermoelectric generation
(2008)

In this paper, the principle and basic structure of the thermoelectric module is introduced. The steady- state and dynamic behaviors of a single TE module are characterized. An electric model of TE modules is developed and can be embedded in the simulation software for circuit analysis and design. The issues associated with the application of the TEG models is analyzed and pointed out. Power electronic technologies provide solutions for thermoelectric generation with features such as load interfacing, maximum power point tracking, power conditioning and failed module bypassing. A maximum power point tracking algorithm is developed and implemented with a DC-DC converter and low cost microcontroller. Experimental results demonstrated that the power electronic circuit can extract the maximum electrical power from the thermoelectric modules and feed electric loads regardless of the thermoelectric module's heat flux and load impedance or conditions.
Identifying Analogies Across Domains
(2018)

Identifying analogies across domains without supervision is an important task for artificial intelligence. Recent advances in cross domain image mapping have concentrated on translating images across domains. Although the progress made is impressive, the visual fidelity many times does not suffice for identifying the matching sample from the other domain. In this paper, we tackle this very task of finding exact analogies between datasets i.e. for every image from domain A find an analogous image in domain B. We present a matching-by-synthesis approach: AN-GAN, and show that it outperforms current techniques. We further show that the cross-domain mapping task can be broken into two parts: domain alignment and learning the mapping function. The tasks can be iteratively solved, and as the alignment is improved, the unsupervised translation function reaches quality comparable to full supervision.
Photovoltaic based water pumping system
(2011)

In this paper a stand-alone Photovoltaic (PV) systems is presented for water pumping. Solar PV water pumping systems are used for irrigation and drinking water. PV based pumping systems without battery can provide a cost-effective use of solar energy. For the purpose of improving efficiency of the system perturb and observe (P&O) algorithm based Maximum Power Point Tracker (MPPT) is connected to this system. The aim of this paper is to show how to achieve an effective photovoltaic pumping system without battery storage. Results are presented based on different cases of irrigation pumping application and availability of solar irradiance. Simulation results using MATLAB/SIMULINK show that the performance of the controllers both in transient as well as in steady state is quite satisfactory.
Quality Management in Systems Development: An Organizational System Perspective
(2000)

We identify top management leadership, a sophisticated management infrastructure, process management efficacy, and stakeholder participation as important elements of a quality-oriented organizational system for software development. A model interrelating these constructs and quality performance is proposed. Data collected through a national survey of IS executives in Fortune 1000 companies and government agencies was used to Robert Zmud was the accepting senior editor for this paper. test the model using a Partial Least Squares analysis methodology. Our results suggest that software quality goals are best attained when top management creates a management infrastructure that promotes improvements in process design and encourages stakeholders to evolve the design of the development processes. Our results also suggest that all elements of the organizational system need to be developed in order to attain quality goals and that piecemeal adoption of select quality management practices are unlikely to be effective. Implications of this research for IS theory and practice are discussed.
Experiences with Selecting Search Engines Using Metasearch
(1997)

Search engines are among the most useful and high-profile resources on the Internet. The problem of finding information on the Internet has been replaced with the problem of knowing where search engines are, what they are designed to retrieve, and how to use them. This article describes and evaluates SavvySearch, a metasearch engine designed to intelligently select and interface with multiple remote search engines. The primary metasearch issue examined is the importance of carefully selecting and ranking remote search engines for user queries. We studied the efficacy of SavvySearch's incrementally acquired metaindex approach to selecting search engines by analyzing the effect of time and experience on performance. We also compared the metaindex approach to the simpler categorical approach and showed how much experience is required to surpass the simple scheme.
Binarized Neural Networks: Training Deep Neural Networks with Weights and Activations Constrained to +1 or -1
(2016)

We introduce a method to train Binarized Neural Networks (BNNs) neural networks with binary weights and activations at run-time. At training-time the binary weights and activations are used for computing the parameters gradients. During the forward pass, BNNs drastically reduce memory size and accesses, and replace most arithmetic operations with bit-wise operations, which is expected to substantially improve power-efficiency. To validate the effectiveness of BNNs we conduct two sets of experiments on the Torch7 and Theano frameworks. On both, BNNs achieved nearly state-of-the-art results over the MNIST, CIFAR-10 and SVHN datasets. Last but not least, we wrote a binary matrix multiplication GPU kernel with which it is possible to run our MNIST BNN 7 times faster than with an unoptimized GPU kernel, without suffering any loss in classification accuracy. The code for training and running our BNNs is available on-line.
An Accurate Multi-Row Panorama Generation Using Multi-Point Joint Stitching
(2018)

Most of the existing panorama generation tools require the input images to be captured along one direction, and yield a narrow strip panorama. To generate a large viewing field panorama, this paper proposes a multi-row panorama generation (MRPG) method. For a pan/tilt camera whose scanning path covers a wide range of horizontal and vertical views, the image frames in different views correspond to different coordinate benchmarks and different projections. And the image frame should not only be aligned with the continuous frames in timeline but also be aligned with other frames in spatial neighborhood even with long time intervals. For these problems, MRPG first designs an optimal scanning path to cover the large viewing field, and chooses the center frame as the reference frame to start to stitch. The stitching order of multi-frame is arranged in first-column and second-row to ensure a small alignment error. Moreover, MRPG proposes a multi-point joint stitching method to eliminate the seams and correct the distortions, which makes the current frame accurately integrated into the panoramic canvas from all directions. Experimental results show that MRPG can generate a more accurate panorama than other state-of-the-art image stitching methods, and give a better visual effect for a large viewing field panorama.
Privacy-Preserving Image Denoising From External Cloud Databases
(2017)

Along with the rapid advancement of digital image processing technology, image denoising remains a fundamental task, which aims to recover the original image from its noisy observation. With the explosive growth of images on the Internet, one recent trend is to seek high quality similar patches at cloud image databases and harness rich redundancy therein for promising denoising performance. Despite the well-understood benefits, such a cloud-based denoising paradigm would undesirably raise security and privacy issues, especially for privacy-sensitive image data sets. In this paper, we initiate the first endeavor toward privacy-preserving image denoising from external cloud databases. Our design enables the cloud hosting encrypted databases to provide secure query-based image denoising services. Considering that image denoising intrinsically demands high quality similar image patches, our design builds upon recent advancements on secure similarity search, Yao’s garbled circuits, and image denoising operations, where each is used at a different phase of the design for the best performance. We formally analyze the security strengths. Extensive experiments over real-world data sets demonstrate that our design achieves the denoising quality close to the optimal performance in plaintext.
Induction and synchronous reluctance motors comparison
(2008)

The aim of this paper is to investigate and compare the performances of two induction motors and two transverse laminated synchronous reluctance motors (induction motor nameplate data: 2.2 and 4 kW, 380 V, 50 Hz, 4 pole). Each induction motor is compared with a synchronous reluctance motor, that has the same stator lamination and winding, but, obviously, different rotor. The analysis has been based both on an analytical and experimental approach. The results have shown that the synchronous reluctance motor, compared to the induction motor, is capable of around a 10% to 15% larger rated torque for a given frame size. The direct comparison of the performances of the motor types has been made both for constant load and constant dissipated power conditions.
The learning and use of traversability affordance using range images on a mobile robot
(2007)

We are interested in how the concept of affordances can affect our view to autonomous robot control, and how the results obtained from autonomous robotics can be reflected back upon the discussion and studies on the concept of affordances. In this paper, we studied how a mobile robot, equipped with a 3D laser scanner, can learn to perceive the traversability affordance and use it to wander in a room tilled with spheres, cylinders and boxes. The results showed that after learning, the robot can wander around avoiding contact with non-traversable objects (i.e. boxes, upright cylinders, or lying cylinders in certain orientation), but moving over traversable objects (such as spheres, and lying cylinders in a rollable orientation with respect to the robot) rolling them out of its way. We have shown that for each action approximately 1% of the perceptual features were relevant to determine whether it is afforded or not and that these relevant features are positioned in certain regions of the range image. The experiments are conducted both using a physics-based simulator and on a real robot.
The role of tutoring in problem solving.
(1976)

THIS PAPER is concerned with the nature of the tutorial process; the means whereby an adult or "expert" helps somebody who is less adult or less expert. Though its aim is general, it is expressed in terms of a particular task: a tutor seeks to teach children aged 3, 4 and 5 yr to build a particular three-dimensional structure that requires a degree of skill that is initially beyond them. It is the usual type of tutoring situation in which one member "knows the answer" and the other does not, rather like a "practical" in which only the instructor "knows how". The changing interaction of tutor and children provide our data. A great deal of early problem solving by the developing child is of this order. Although from the earliest months of life he is a "natural" problem solver in his own right (e.g. Bruner, 1973) it is often the ease that his efforts are assisted and fostered by others who are more skilful than he is (Kaye, 1970). Whether he is learning the procedures that constitute the skills of attending, communicating, manipulating objects, locomoting, or, indeed, a more effective problem solving procedure itself, there are usually others in attendance who help him on his way. Tutorial interactions are, in short, a crucial feature of infancy and childhood. Our species, moreover, appears to be the only one in which any "intentional" tutoring goes on (Bruner, 1972; Hinde, 1971). For although it is true that many of the higher primate species learn by observation of their elders (Hamburg, 1968; van Lawick-Goodall, 1968), there is no evidence that those elders do anything to instruct their charges in the performance of the skill in question. What distinguishes man as a species is not only his capacity for learning, but for teaching as well. It is the main aim of this paper to examine some of the major implications of this interactive, instructional relationship between the developing child and his elders for the study of skill acquisition and problem solving. The acquisition of skill in the human child can be fruitfully conceived as a hierarchical program in which component skills are combined into "higher skills" by appropriate orchestration to meet new, more complex task requirements (Bruner, 1973). The process is analogous to problem solving in which mastery of "lower order" or constituent problems in a sine qua non for success with a larger jjroblcm, each level influencing the other—as with reading where the deciphering of words makes possible the deciphering of sentences, and sentences then aid in the deciphering of particular words (F. Smith, 1971). Given persistent intention in the young learner, given a "lexicon" of constituent skills, the crucial task is often one of com-